Backstepping Control of a Fully-actuated Surface Vessel for Tracking a Docking Maneuver
- The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper by designing a backstepping controller with a multivariable integral action, considering the thruster allocation problem. The performance and robustness of this controller are evaluated in simulation, taking into account environmental disturbance forces and modeling mismatch, using a docking maneuver as a reference trajectory. Furthermore, a comparison between the backstepping controller and a nonlinear position PID-Control with flatness based-feedforward is also analyzed.
| Author: | Leticia Mayumi Kinjo, Tomas Menard, Stefan WirtensohnORCiD, Olivier Gehan, Johannes ReuterORCiD |
|---|---|
| DOI: | https://doi.org/10.1109/ICSC57768.2022.9993861 |
| ISBN: | 978-1-6654-6507-6 |
| ISBN: | 978-1-6654-6508-3 |
| Parent Title (English): | 10th International Conference on Systems and Control (ICSC 2022), 23-25 November 2022, Marseille, France |
| Publisher: | IEEE |
| Document Type: | Conference Proceeding |
| Language: | English |
| Year of Publication: | 2022 |
| Release Date: | 2023/01/11 |
| Tag: | Fully-actuated autonomous surface vessels; Trajectory tracking; Backstepping control |
| First Page: | 502 |
| Last Page: | 507 |
| Note: | Volltext im Campusnetz der Hochschule Konstanz abrufbar. |
| Institutes: | Institut für Systemdynamik - ISD |
| Relevance: | Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband) |
| Open Access?: | Nein |
| Licence (German): |  Urheberrechtlich geschützt |
